#$%^&*AU2020202052A120200409.pdf#####ROBOTIC SURGICAL SYSTEMS, INSTRUMENT DRIVE UNITS, AND DRIVE ASSEMBLIES ABSTRACT A drive assembly (300) of an instrument drive unit (200) for use with a surgical instrument, the drive assembly (300) comprising: a drive screw (340) defining a longitudinal axis； a drive unit (350) engaged with a portion of the drive screw (340) such that rotation of the drive screw (340) results in longitudinal movement of the drive unit (350) relative to the drive screw (340)； a biasing element (370) disposed in mechanical cooperation with the drive unit (350)； and a drive element disposed in mechanical cooperation with the biasing element (370), wherein longitudinal translation of the drive element relative to the drive screw (340) is configured to drive a function of the surgical instrument.
